melservo-j4 series servo amplifier for connecting to...

MELSERVO-J4 series servo amplifier for connecting to SSCNET of MR-J2S-B is newly released.

By using the conversion unit for SSCNET of MR-J2S-B, MR-J4 series servo amplifier can be connected to the SSCNET of MR-J2S-B compatible servo system controller *.

MR-J4-B-RJ020 is now available in the following capacities:200 V 0.1 kW to 22 kW, and 400 V 0.6 kW to 22 kW

* For compatible controllers, refer to p. 1 in this brochure.

August 2013

New Product ReleaseSV1306-1E-A

General-Purpose AC Servo MELSERVO-J4Conversion Unit for SSCNET of MR-J2S-B Compatible Servo Amplifier: MR-J4-B-RJ020Conversion Unit for SSCNET of MR-J2S-B: MR-J4-T20

Conversion Unit for SSCNET of MR-J2S-B Compatible Servo Amplifier: MR-J4-_B_-RJ020Conversion Unit for SSCNET of MR-J2S-B: MR-J4-T20

●A combination of MR-J4-B-RJ020 and MR-J4-T20 is capable of connecting to the SSCNET of MR-J2S-B compatible servo system

controller and drives MR-J4 compatible HG series servo motors.

●Use the existing program.

* For the outline of precautions, refer to p. 2 in this brochure. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for

details.

1

Features

Compatible Controllers

HC/HA series

MR-J2S-B

SSCNET of MR-J2S-B compatible controller

A combination of MR-J4-B-RJ020 and MR-J4-T20 is capable of connecting to the SSCNET of MR-J2S-B compatible servo system controller.Thus, renewing a machine with MR-J4 series servo amplifiers and servo motors is possible without changing the existing controller.

The set of MR-J4-B-RJ020 and MR-J4-T20 is compatible with the following servo system controllers:A171SHCPU(N), A172SHCPU(N), A173UHCPU, A1SD75M, QD75M, Q172CPU(N), and Q173CPU(N)

MR-J2S-B system

MR-J2S-B renewal tool manufactured by Mitsubishi Electric System & Service Co., Ltd.

MR-J4-B system

HG series

MR-J4-B

SSCNET III/H compatible controller

Refer to "MELSERVO-J4catalog L(NA)03058" for details.

Renew the controller in the future toconfigure the MR-J4-B system.

Equipment renewal

Renew the units other than thecontroller to MR-J4 series using theexisting program.

When renewing a machine with MR-J4 servo amplifiers and HG series servo motors

When using the existing HC/HA series servo motors or when replacing MR-J2S-B using the existing connections

MR-J4-B-RJ020 + MR-J4-T20HG series servo motor

For MR-J2S-B renewal tool, contact your local sales office.

This renewal is introduced in this brochure.

●A combination of MR-J4-B-RJ020 and MR-J4-T20 is capable of connecting to the

SSCNET of MR-J2S-B compatible servo system controller.

● Use the existing mounting holes and wiring, and complete the replacement and the wiring in a short period of time.

* The function and performance are equivalent to those of MR-J2S-B. (J2S compatibility mode)

* Read the precautions on p. 2 in this brochure.

●High-accuracy and high-response MR-J4-B system●Compatible with high-speed optical communication SSCNET III/H

MR-J4-B-RJ020MR-J4-T20

HG series


L L L

U V W

HC/HA series

Renewal toolMR-J4-B-RJ020MR-J4-T20


MaintenanceReplace the servo amplifier without changing the existing connections.

Replacement

2

MR-J4-B-RJ020 Connections with Peripheral Equipment (Note 1, 2)

Precautions

Installation● Mounting holes are not compatible with those of MR-J2S-_B_.● Dimensions of MR-J4-_B_ combined with MR-J4-T20 are different from

those of MR-J2S-_B_.

Wiring● The wire size is different from that of MR-J2S-_B_ depending on the capacity.● Options/peripheral equipment for MR-J2S series cannot be used except

the SSCNET cable and the terminal connector. Select options/ peripheral equipment for MR-J4 series.

● For RS-232C communication, use RS-232C cable (MR-CPCATCBL3M) with junction cable (MR-J4T20CH00).

● MR-J4-_B_-RJ020 servo is not equipped with 24 V power supply for interface. When using digital I/O signal, 24 V (current capacity 0.1 A) power supply is separately required as an interface power supply.

● The signal wiring of connector for I/O signal (CN3) of MR-J4-_B_-RJ020 is partially different from that of MR-J2S-_B_.

● Use MR-BAT6V1SET when configuring absolute position detection system.

Function/performance● Adaptive vibration suppression control (parameter No. 25) is not available.● Alarms are displayed in two digits, which is the same as MR-J2S-_B_.

Some alarms are displayed in three digits.● Use MR Configurator (MRZJW3-SETUP161E). Note that the following

functions are not available.- Gain search- Machine simulation- Motor-less operation (Motor-less operation by the parameter setting is available.)

● Servo motors that are compatible with MR-J4 (HG series) may have different coasting distance for dynamic brake from that of conventional

HC/HA series servo motors.● The encoder resolution of HG series servo motors will be 131072 pulses/rev (17 bit).

Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for details.

Compatible servo system controllerA171SHCPU(N), A172SHCPU(N), A173UHCPU, A1SD75M, QD75M, Q172CPU(N), Q173CPU(N)

Regenerative option(optional)

RS-232C communication connector (CN30)Connect a personal computer and perform parameter setting and monitoring withMR Configurator. Use optional RS-232C cable (MR-CPCATCBL3M) with junction cable(MR-J4T20CH00).

Connector for SSCNET cable connection (CN10B)Connect the next servo amplifier axis or MR-A-TM terminal connector.

Battery connector (CN4)Connect MR-BAT6V1SET battery when configuring absolute position detection system.

Charge lampThe lamp lights when the main circuit power supply is charged.

Encoder connector (CN2)Connect the servo motor encoder using an optional cable or a connector set.

Magnetic contactor (MC)This turns off the power to the servo amplifier when an alarm is triggered.

Servo motor power cable (optional)

MR Configurator(Setup software)

Servo motor(The picture is as of HG-KR053.)

Battery

Encoder cable (optional)

Manufacturer setting connector (CN2L)This connector is not for use.

Molded-case circuit breaker (MCCB)This protects the power supply line.

Power factor improving DC reactor (optional)This boosts the power factor of servoamplifier and reduces the powersupply capacity.

I/O signal connector (CN3)This connector is used for forced stop input and electromagnetic brake interlock signals. The signal wiring is partially different from that of MR-J2S-B.Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual." When using digital I/O signal, 24 V power supply is separately required as an interface power supply.

USB communication connector (CN5)This connector is not for use in the J2S compatibility mode.

Axis setting part (Note 3)

Select an axis with the axis selection rotary switch (SW1). The control axis setting switches (SW2) are not for use in the J2S compatibility mode. Set all to "off (bottom)."

Display (Note 3)

Servo amplifier status and alarm number are displayed.

(Note 4)

(Note 5)

Connector for SSCNET cable connection (CN10A)Connect the servo system controller or the previous servo amplifier axis.

Notes: 1. The connection with the peripheral equipment is an example for MR-J4-350B-RJ020 or smaller servo amplifiers. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the actual connections. 2. When MR-J4-_B_-RJ020 is used with MR-J4-T20, the mode is the J2S compatibility mode. 3. This picture shows when the display cover is open. 4. This connector is not for use in the J2S compatibility mode. Be sure to attach a short-circuit connector supplied with the servo amplifier. 5. This connector is not for use in the J2S compatibility mode. Be sure to attach a cap supplied with the servo amplifier.

MRZJW3-SETUP161E

3

Servo Amplifier Model Designation

M R - J 4 - 1 0 B - R J 0 2 0

Symbol Rated output [kW]10 0.120 0.240 0.460 0.670 0.75100 1200 2350 3.5500 5700 711K 1115K 1522K 22

Symbol InterfaceB SSCNET III/H (Note 3)

Symbol Special specification

RJ020Conversion unit for SSCNET of

MR-J2S-B compatible (Note 5)

RU020MR-J4-_B_-RJ020 without

a dynamic brake (Note 4, 5)

RZ020MR-J4-_B_-RJ020 without an

enclosed regenerative resistor (Note 6)

Mitsubishi general-

purpose AC servo amplifier MELSERVO-J4

Series

Notes: 1. MR-J4-70B-RJ020 or smaller servo amplifiers are available for 1-phase 200 V AC. 2. MR-J4-60B4-RJ020 or larger servo amplifiers are available. 3. SSCNET III/H interface is not available in the J2S compatibility mode. 4. Available in 7 kW or less servo amplifier without a built-in dynamic brake.When using the servo amplifier without a dynamic brake, the servo motor does not stop

immediately at an alarm occurrence or power failure. Take measures to ensure safety on the entire system. When the following servo motors are used, the electronic dynamic brake may operate at an alarm occurrence. HG-KR053, HG-KR13, HG-KR23, HG-KR43, HG-MR053, HG-MR13, HG-MR23, HG-MR43, HG-SR51, and HG-SR52 Disable the electronic dynamic brake by setting [Pr. 56] to "2_ _ _." 5. MR-J4-T20 conversion unit for SSCNET of MR-J2S-B is required to make the servo amplifier be compatible with SSCNET interface. When MR-J4-B-RJ020 and MR-J4-T20 are combined, MR-J4-B-RJ020 is compatible with the following servo system controllers: A171SHCPU(N), A172SHCPU(N), A173UHCPU, A1SD75M, QD75M, Q172CPU(N), and Q173CPU(N) 6. Available in 11 kW to 22 kW servo amplifier. A regenerative resistor (standard accessory) is not enclosed.

Symbol Power supply

None3-phase 200 V AC or

1-phase 200 V AC (Note 1)

4 3-phase 400 V AC (Note 2)

4

Conversion Unit for SSCNET of MR-J2S-B Compatible Servo Amplifier: MR-J4-B-RJ020Conversion Unit for SSCNET of MR-J2S-B: MR-J4-T20

Combinations of Servo Amplifier and Servo Motor

For 200 V AC

Servo amplifier Servo motor

MR-J4-10B-RJ020HG-KR053, 13HG-MR053, 13

MR-J4-20B-RJ020HG-KR23HG-MR23

MR-J4-40B-RJ020HG-KR43HG-MR43

MR-J4-60B-RJ020HG-SR51, 52HG-JR53

MR-J4-70B-RJ020

HG-KR73HG-MR73HG-JR73HG-UR72

MR-J4-100B-RJ020HG-SR81, 102HG-JR53 (Note 1), 103

MR-J4-200B-RJ020

HG-SR121, 201, 152, 202HG-JR73 (Note 1), 103 (Note 1), 153, 203HG-RR103, 153HG-UR152

MR-J4-350B-RJ020

HG-SR301, 352HG-JR153 (Note 1), 203 (Note 1), 353HG-RR203HG-UR202

MR-J4-500B-RJ020

HG-SR421, 502HG-JR353 (Note 1), 503HG-RR353, 503HG-UR352, 502

MR-J4-700B-RJ020HG-SR702HG-JR503 (Note 1), 703

MR-J4-11KB-RJ020 HG-JR903, 11K1MMR-J4-15KB-RJ020 HG-JR15K1MMR-J4-22KB-RJ020 HG-JR22K1M

Notes: 1. The maximum torque can be increased from 300% to 400% of the rated torque with this combination.

For 400 V AC

Servo amplifier Servo motor

MR-J4-60B4-RJ020HG-SR524HG-JR534

MR-J4-100B4-RJ020HG-SR1024HG-JR534 (Note 1), 734, 1034

MR-J4-200B4-RJ020HG-SR1524, 2024HG-JR734 (Note 1), 1034 (Note 1), 1534, 2034

MR-J4-350B4-RJ020HG-SR3524HG-JR1534 (Note 1), 2034 (Note 1), 3534

MR-J4-500B4-RJ020HG-SR5024HG-JR3534 (Note 1), 5034

MR-J4-700B4-RJ020HG-SR7024HG-JR5034 (Note 1), 7034

MR-J4-11KB4-RJ020 HG-JR9034, 11K1M4MR-J4-15KB4-RJ020 HG-JR15K1M4MR-J4-22KB4-RJ020 HG-JR22K1M4

5

MR-J4-B-RJ020 (Interface for SSCNET of MR-J2S-B) Specifications (200 V)

Servo amplifier model MR-J4-_-RJ020 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

OutputRated voltage 3-phase 170 V ACRated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

Main circuit power supply input

Voltage/frequency (Note 1) 3-phase or 1-phase 200 V ACto 240 V AC, 50 Hz/60 Hz

3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current [A] 0.9 1.5 2.6 3.2 (Note 7) 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0Permissible voltage fluctuation

3-phase or 1-phase 170 V ACto 264 V AC

3-phase 170 V AC to 264 V AC

Permissible frequency fluctuation

±5% maximum

Control circuit power supply input

Voltage/frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current [A] 0.2 0.3Permissible voltage fluctuation



±5% maximum

Power consumption [W] 30 45

Interface power supply 24 V DC ± 10% (required current capacity: 0.1 A)

Control method Sine-wave PWM control/current control method

Tolerable regenerative power

Built-in regenerativeresistor (Note 2, 3) [W] - 10 10 10 20 20 100 100 130 170 - - -

External regenerativeresistor (standardaccessory) (Note 2, 3, 9, 10)

[W] - - - - - - - - - -500

(800)850

(1300)850

(1300)

Dynamic brake Built-in (Note 4) External option (Note 11)

Communication function USB: not for use in the J2S compatibility mode

Encoder output pulse Compatible (A/B/Z-phase pulse)

Analog monitor 2 channels

Fully closed loop control Not compatible

Load-side encoder interface Not compatible

Protective functionsOvercurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo

motor overheat protection, encoder error protection, regenerative error protection, undervoltageprotection, instantaneous power failure protection, overspeed protection, error excessive protection

Functional safety Not compatible

Compliance tostandards

CE markingLVD: EN 61800-5-1EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061UL standard UL 508C

CSA standard CSA C22.2 No.14

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)Force cooling, open

(IP20) (Note 5)

Close mounting Possible (Note 6) Not possible

Environment

Ambient temperature 0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient humidity 90 %RH maximum (non-condensing), storage: 90 %RH maximum (non-condensing)

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 1000 m or less above sea level

Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass (Note 8) [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2Notes: 1. Rated output and speed of a rotary servo motor are applicable when the servo amplifier, combined with the rotary servo motor, is operated within the specified power

supply voltage and frequency. 2. Select the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the tolerable regenerative power [W] when regenerative option is used. 4. When using the built-in dynamic brake, refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio. 5. Terminal blocks are excluded. 6. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 °C to 45 °C, or use them with 75% or less of the effective load ratio. 7. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor. 8. The value is applicable for MR-J4-_B-RJ020 servo amplifier only. 9. The value in brackets is applicable when cooling fans (2 units of 92 mm × 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. 2] is changed. 10. Servo amplifiers without an enclosed regenerative resistor are also available. Refer to "Servo Amplifier Model Designation" in this brochure for details. 11. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls

in free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.

6


MR-J4-B4-RJ020 (Interface for SSCNET of MR-J2S-B) Specifications (400 V)

Servo amplifier model MR-J4-_-RJ020 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

OutputRated voltage 3-phase 323 V ACRated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0

Main circuit power supply input

Voltage/frequency (Note 1) 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6Permissible voltage fluctuation



±5% maximum


Voltage/frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.1 0.2Permissible voltage fluctuation



±5% maximum

Power consumption [W] 30 45

Interface power supply 24 V DC ± 10% (required current capacity: 0.1 A)

Control method Sine-wave PWM control/current control method

Tolerableregenerativepower

Built-in regenerative resistor (Note 2, 3) [W] 15 15 100 100 130 (Note 6) 170 (Note 6) - - -

External regenerativeresistor (standardaccessory) (Note 2, 3, 8, 9)

[W] - - - - - -500

(800)850

(1300)850

(1300)

Dynamic brake Built-in (Note 4) External option (Note 10)

Communication function USB: not for use in the J2S compatibility mode

Encoder output pulse Compatible (A/B/Z-phase pulse)

Analog monitor 2 channels

Fully closed loop control Not compatible

Load-side encoder interface Not compatible

Protective functionsOvercurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo

motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Functional safety Not compatible

Compliance tostandards

CE markingLVD: EN 61800-5-1EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061UL standard UL 508C

CSA standard CSA C22.2 No.14

Structure (IP rating)Natural cooling, open

(IP20)Force cooling, open

(IP20)Force cooling, open (IP20) (Note 5)

Close mounting Not possible

Environment

Ambient temperature 0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient humidity 90 %RH maximum (non-condensing), storage: 90 %RH maximum (non-condensing)

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 1000 m or less above sea level

Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass (Note 7) [kg] 1.7 1.7 2.1 3.6 4.3 6.5 13.4 13.4 18.2Notes: 1. Rated output and speed of a rotary servo motor are applicable when the servo amplifier, combined with the rotary servo motor, is operated within the specified power supply

voltage and frequency. 2. Select the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the tolerable regenerative power [W] when regenerative option is used. 4. When using the built-in dynamic brake, refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio. 5. Terminal blocks are excluded. 6. The servo amplifier built-in regenerative resistor is compatible with the maximum torque deceleration when the servo motor is used within the rated speed and the

recommended load to motor inertia ratio. Contact your local sales office if the operating motor speed or the load to motor inertia ratio exceeds the rated speed or the recommended ratio.

7. The value is applicable for the MR-J4-_B4-RJ020 servo amplifier only. 8. The value in brackets is applicable when cooling fans (2 units of 92 mm × 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. 2] is changed. 9. Servo amplifiers without an enclosed regenerative resistor are also available. Refer to "Servo Amplifier Model Designation" in this brochure for details. 10. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls

in free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.

7

Conversion Unit for SSCNET of MR-J2S-B (MR-J4-T20)

Specifications

Item DescriptionModel MR-J4-T20


Voltage5 V DC

(Control circuit power for the conversion unit for SSCNET of MR-J2S-B is supplied from the servo amplifier.)Rated current

[A] 0.1

Network interface SSCNET interface (CN10A and CN10B connectors)

Communication functionRS-232C: Connect a personal computer (MR Configurator (MRZJW3-SETUP161E) compatible) (CN30

connector)Structure (IP rating) Natural cooling, open (IP00)

Environment

Ambient temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambienthumidity

90 %RH maximum (non-condensing), storage: 90 %RH maximum (non-condensing)

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dustAltitude 1000 m or less above sea levelVibrationresistance

5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [g] 140

Dimensions

MR-J4-T20

5x6 mounting hole forgrounding

94.9

103.7

97

24.5

114.

5

98.7

161

12

20

CN10A

CN10B

CN30

8


Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledgeof the equipment, safety information and instructions.

3 4

01 2

RA1

Main circuitpower supply

Main circuit power supply

(Note 6)

(Note 5)

This connector is not for use in the J2S compatibility mode.

Control circuitpower supply

CN2

CN2L

CN8

CN4

Servo amplifierMR-J4-B(4)-RJ020

Servo motorEncoder Z-phase pulse(differential line driver)

24 V DC power supply for interface

Encoder A-phase pulse(differential line driver)

Encoder B-phase pulse(differential line driver)

Control common

Analog monitor output

Forced stop

Electromagnetic brake interlock

2 m or shorter10 m or shorter

10 m or shorter

10 m or shorter

Output voltage: ±10 VMaximum output current: 1 mA

Output voltage: ±10 VMaximum output current: 1 mA

Encoder cable

Power cable

CN

1BC

N5

BATLG

12

DICOMDOCOM

538

186

167

LZ

17

LZRLA

11

LARLBLBRLG

EM1 20DOCOM 3

DICOM 10

MBR 13

SD Plate

MO1

MO2

4

14LG 1

CN3

L1

L2

L3

U

V

W

L11

L21

Main/control circuit power supply connection The connection differs according to the power voltage.

Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual."

Servo motor connectionThe connection differs according to each servo motor.

Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual."

This connector is not for use in the J2S compatibility mode. Be sure to attach a short-circuit connector supplied with the servo amplifier.

This connector is not for use.

Mount an optional battery (MR-BAT6V1SET) for absolute position detection system.

This connector is not for use in the J2S compatibility mode. Be sure to attach a cap supplied with the servo amplifier.

CN

1A This connector is not for use in the J2S compatibility mode. Be sure to attach a cap supplied with the servo amplifier.

SW2 SW1(Note 3)(Note 7)

(Note 4)

(Note 8, 9)

MR-J4-T20

Controller (Note 1)

CN7 CN9

CN70 CN90

CN

10A

CN

30

A171SHCPU(N)A172SHCPU(N)A173UHCPUA1SD75MQD75MQ172CPU(N)Q173CPU(N)

Personal computerSetup softwareMR Configurator(MRZJW3-SETUP161E)

CN

10B(Note 8, 9)

SSCNET cable

Cable clamp

RS-232C junction cable(MR-J4T20CH00)

RS-232C cable(MR-CPCATCBL3M)

Servo amplifier (Note 2)

MR-J4-T20

2nd axis

CN10A

CN10B

CN10A

CN10B

SSCNET cable

Servo amplifier (Note 2)

MR-J4-T20

nth axis (n = 1 to 8)

CN10A

CN10B

(Note 10)

Be sure to attach MR-A-TM terminal connector to CN10B connector of the final axis.

•••••••

MR-J4-B(4)-RJ020 Standard Wiring Diagram Example

9

MR-J4-B(4)-RJ020 Standard Wiring Diagram ExampleNotes: 1. For details such as setting the controllers, refer to programming manual or user's manual for the controllers. 2. Connections for the second and following axes are omitted. 3. Up to 8 axes are connectable by setting the axis selection rotary switch (SW1). 4. This is for sink wiring. Source wiring is also possible. 5. Create a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier. 6. Provide an external power supply of 24 V DC ± 10% (required current capacity: 0.1 A) to the interface. 7. SW2 is not for use in the J2S compatibility mode. 8. The total length of the SSCNET cables must be 30 m or shorter. It is recommended that three or four data line filters in serial connection or a cable cramp be used near the

connector on the controller to improve noise immunity. 9. The SSCNET cables vary depending on the controller. Select the appropriate SSCNET cable as follows: • A171SHCPU(N)/A172SHCPU(N)/A173UHCPU/A1SD75M: MR-J2HBUS_M-A • QD75M: MR-J2HBUS_M • Q172CPU(N): Q172J2BCBL_M(-B) • Q173CPU(N): Q173J2B_CBL_M • MR-J4-_B_-RJ020+MR-J4-T20: MR-J2HBUS_M 10. Use MR Configurator (MRZJW3-SETUP161E) when using MR-J4-_B_-RJ020 servo amplifier in the J2S compatibility mode.

10


MR-J4-B-RJ020 Dimensions (Note 2)

MR-J4-10B-RJ020 ● (Note 1)

MR-J4-20B-RJ020 ● (Note 1)

[Unit: mm]

Notes: 1. CNP1, CNP2 and CNP3 connectors (insertion type) are supplied with the servo amplifier. 2. The dimensions are applicable when MR-J4-B-RJ020 and MR-J4-T20 are combined. Refer to "MR-J4-B(-RJ) Dimensions" in "MELSERVO-J4 catalog (L(NA)03058)" for

the dimensions of MR-J4-B-RJ020 servo amplifiers alone.

Terminal arrangement

CNP1

PE

CNP2

CNP3

Mounting screw size: M5

Screw size: M4

C

L11

L21

L1

L2

L3

U

V

W

P3

P+

N-

P4

D

Approx. 80

156

(21)

6

6

40

6

6 135

CN4

4

(38.5)

(69.3)

L2

L3

N-

P3

P4

P+CD

L11L21

U

V

W

L1

CNP2

CNP1

CNP3

ø6 mounting hole

When mountingMR-BAT6V1SET

CN3

CN8

CN1A

CN1B

CN2CN2L

CN10A

CN10B

CN30

16816

1

52

CN5

PE

[Unit: mm]

MR-J4-40B-RJ020 ● (Note 1)

MR-J4-60B-RJ020 ● (Note 1)


CNP1

PE

CNP2

CNP3


Screw size: M4

C

L11

L21

L1

L2

L3

U

V

W

P3

P+

N-

P4

D

Approx. 80 170

156

6

40

6

6

CN4

L21

L2

L3

N-

P3

P4

P+CD

L11

5

U

V

W

L1

(21)

6

(38.5)

(69.3)

CNP2

CNP1

CNP3

ø6 mounting hole


CN5

CN3

CN8

CN1A

CN1B

CN2CN2L

CN10A

CN10B

CN30

161

168

52

PE

[Unit: mm]

MR-J4-70B-RJ020 ● (Note 1)

MR-J4-100B-RJ020 ● (Note 1)

156

6

4212

6

60

6

12 Approx. 80

Cooling fanIntake

Exhaust

185

(38.5)

L2

L3

N-

P3

P4

L1

P+CD

L11L21

U

V

W

CN4

6

(21)

(69.3)

CNP2

CNP1

CNP3

ø6 mounting hole


CN5

CN3

CN8

CN1A

CN1B

CN2CN2L

CN10A

CN10B

CN30

168

161

72

PE


CNP1

PE

CNP2

CNP3


Screw size: M4

C

L11

L21

L1

L2

L3

U

V

W

P3

P+

N-

P4

D

11

MR-J4-B-RJ020 Dimensions (Note2)

MR-J4-60B4-RJ020 ● (Note1)

MR-J4-100B4-RJ020 ● (Note1)

[Unit: mm]



U

V

W

CNP1

PE

CNP2

CNP3


Screw size: M4

N-

L1

L2

L3

P3

P4

P+

C

D

L11

L21


156

6

4212

6

60

6

12 Approx. 80 195

(38.5)

6

(21)

(69.3)

168

161

CNP1

ø6 mounting hole


N-

L1

L2

L3

P3

P4

P+

C

D

L11

L21

U

V

WCN4

CN5

CN3

CN8

CN1A

CN1B

CN2CN2L

CNP2

CNP3

CN10A

CN10B

CN30

72

PE

MR-J4-200B-RJ020 ● (Note 1)

[Unit: mm]

6

66 78 6

615

6

4585

Approx. 80 195

Intake

Exhaust

Cooling fan(38.5)

6

L2

L3

N-

P3

P4

L1

P+CD

L11L21

U

V

W

(21)

(69.3)

CNP2

CNP1

CNP3

ø6 mounting hole


CN5

CN3

CN8

CN1A

CN1B

CN2CN2L

CN10A

CN10B

CN30

168

161

97

PE

U

V

W

CNP1

PE

CNP2

CNP3


Screw size: M4

L1

L2

L3

N-

P3

P4

P+

C

D

L11

L21


MR-J4-200B4-RJ020 ● (Note 1)

[Unit: mm]

6

66 78 6

168

615

6

4585

Approx. 80 195

Intake

Exhaust

Cooling fan

161

(38.5)

6

(21)

(69.3)

ø6 mounting hole


CN4

CN2

CN4

N-

L1

L2

L3

P3

P4

P+

C

D

L11

L21

U

V

W

CN5

CN3

CN8

CN1A

CN1B

CNP2

CNP1

CNP3

CN2L

CN10A

CN10B

CN30

97

PE

U

V

W

CNP1

PE

CNP2

CNP3


Screw size: M4

N-

L1

L2

L3

P3

P4

P+

C

D

L11

L21


12


ø13 holeU

V

W

CNP1

PE

CNP2

CNP3


Screw size: M4

L1

L2

L3

N-

P3

P4

P+

C

D

L11

L21


6

10

(R)

Mounting holedimensions

6

66 78 6

615

6

4585

Approx. 80 195

Intake

Exhaust

Cooling fan(38.5)

6

(21)

(69.3)

Mounting hole


L2

L3

N-

P3

P4

L1

U

V

W

CN4

CNP3

CNP1

CNP2

CN5

CN3

CN8

CN1A

CN1B

CN2

P+CD

L11L21

CN2L

CN10A

CN10B

CN30

168

161

97

PE

Terminal screw size

TE1: M4

TE2: M3.5

TE3: M4

TE4: M4

PE: M4



TE1

PETE2

L1

L2

L3

N-

L11

L21

TE3

P3

P4

P+

C

TE4

D

U

V

W

250

7.5

6

TE1

TE3

TE4

TE2

Cooling fanExhaust

Intake


2-ø6 mountinghole

200105

93 66

7.5

(39)

(34)

235

6

Approx. 80(28)

107(25)

Terminal diagram(with front cover open)

PE

Exhaust

Intake

Cooling fan

2-ø6 mounting hole

250

7.5

6

CNP1

CNP2

CNP3


105

93 66

7.5

235

2006

Approx. 80(28)

107

(34)

(38.

5)

PEU

V

W

CNP1

PE

CNP2

CNP3


Screw size: M4

N-

L1

L2

L3

P3

P4

P+

C

D

L11

L21



MR-J4-350B-RJ020 ● (Note 1)

MR-J4-350B4-RJ020 ● (Note 1)

[Unit: mm]



[Unit: mm]

MR-J4-500B-RJ020 ●

[Unit: mm]

13

TE2 TE3

TE1

Exhaust

Intake

Cooling fan


66 118

130

7.5

235

7.5

250

200

(60)

(38.

5)

Approx. 80

(28)

132

PE


2-ø6 mountinghole

L1 L2 L3

N- P3 P4

C


P+ U V W

TE1

TE2

PE

L11 L21

TE3

Terminal screw size

TE1: M4

TE2: M3.5

TE3: M4

PE: M4


Built-in regenerative resistor lead terminal fixing screw

6

300

7.5 Cooling fan

Exhaust

Intake

2-ø6 mounting hole


200172174

160 66

7.5

285

6Approx. 80

TE3

TE1TE2

PE

(101

)(3

9)


L1 L2 L3

N- P3 P4

C


P+ U V W

TE1 TE2

PE

L11 L21

TE3

Terminal screw size

TE1: M4

TE2: M3.5

TE3: M4

PE: M4


(28)

Built-in regenerative resistor lead terminal fixing screw


MR-J4-500B4-RJ020 ●

MR-J4-700B-RJ020 ●

MR-J4-700B4-RJ020 ●

[Unit: mm]

Notes: 1. The dimensions are applicable when MR-J4-B-RJ020 and MR-J4-T20 are combined. Refer to "MR-J4-B(-RJ) Dimensions" in "MELSERVO-J4 catalog (L(NA)03058)" for the dimensions of MR-J4-B-RJ020 servo amplifiers alone.

[Unit: mm]

14



MR-J4-11KB-RJ020 ●

MR-J4-15KB-RJ020 ●

MR-J4-11KB4-RJ020 ●

MR-J4-15KB4-RJ020 ●

P3 P4 P+


C N-

TE1-2

L1 L2 L3 U V W

TE1-1

TE2

PE

L11 L21

Terminal screw size

TE1-1: M6

TE1-2: M6

TE2: M4

PE: M6


260 Approx. 80

Cooling fanExhaust

Intake

10.5Terminal diagram

(with front cover open)

220196 1212

6

400

2-ø6 mounting hole

380

1010

TE1-1TE2


TE1-2

188

237.4224.2

(39)

(139

.5)

(28)

PE

[Unit: mm]

P3 P4 P+


C N-

TE1-2

L1 L2 L3 U V W

TE1-1

TE2

PE

L11 L21

Terminal screw size

TE1-1: M8

TE1-2: M8

TE2: M4

PE: M8

Mounting screw size : M10

2-ø12 mounting hole

260

400

12 12236

260

188.5223.4

235.4

Cooling fanExhaust

Intake

376

12

12

Approx. 80

(28)

TE1-2TE1-1

TE2


3917

9

12

PE


MR-J4-22KB-RJ020 ●

MR-J4-22KB4-RJ020 ●

Notes: 1. The dimensions are applicable when MR-J4-B-RJ020 and MR-J4-T20 are combined. Refer to "MR-J4-B(-RJ) Dimensions" in "MELSERVO-J4 catalog (L(NA)03058)" for the dimensions of MR-J4-B-RJ020 servo amplifiers alone.

[Unit: mm]

15

Notes: 1. This connector is not for use in the J2S compatibility mode. Be sure to attach a short-circuit connector supplied with the servo amplifier. 2. This connector is not for use in the J2S compatibility mode. Be sure to attach a cap supplied with the servo amplifier. 3. This connector is not for use. 4. This connector is not for use in the J2S compatibility mode. 5. CNP1, CNP2 and CNP3 connectors (insertion type) are supplied with MR-J4-350B_-RJ020 or smaller servo amplifiers. As MR-J4-500B_-RJ020 or larger servo amplifiers

have terminal blocks mounted, these connectors are not supplied with the servo amplifier. Refer to "MR-J4-B-RJ020 Dimensions" in this brochure for details. 6. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for CN3 connector. 7. Refer to "MELSERVO-J4 catalog (L(NA)03058)" for the encoder cable, the power cable, and the electromagnetic cable for HG series servo motors. 8. Be sure to attach MR-A-TM terminal connector to CN10B connector of the final axis.

CNP2

Servo amplifierMR-J4-B-RJ020

Conversion unit forSSCNET of MR-J2S-BMR-J4-T20

Controller

(Note 3)

CNP2

CNP1CN5

CN3

CN8

CN1A

CN1B

CN2

CN2L

CN4

CNP3

CN10A

CN10B

Setup software(MRZJW3-SETUP161E)

A171SHCPU(N)A172SHCPU(N)A173UHCPUA1SD75M

Controller

QD75M

Controller

Q172CPU(N)

Controller

Q173CPU(N)

CN30

(8)

(Note 1)

(Note 2)

(Note 2)

(9)

HG series servo motor

(Note 5)

(Note 5)

(Note 5)

(Note 4)

(Note 6)

Servo amplifierMR-J4-B-RJ020

Conversion unit forSSCNET of MR-J2S-BMR-J4-T20

CNP1CN5

CN3

CN8

CN1A

CN1B

CN2

CN2L

CN4

CNP3

CN10A

CN10B

CN30

(Note 7)

(Note 8)

(Note 7)

(3)

(4)

(10)

(1)

(2)

(4)

(5)

(6)

(7 )

(3)

Configuration Example

16


Item ModelCablelength

IPrating

Application Description

(1) SSCNET cable

MR-J2HBUS05M-A 0.5 m

-

For A171SHCPU(N)/A172SHCPU(N)/A173UHCPU/A1SD75M/MR-J4-T20

Controller-side connectorConnector: PCR-S20FS+Case: PCR-LS20LA1(Honda Tsushin Kogyo Co., Ltd.)

MR-J4-T20-side connector (Note 1)

Connector: 10120-6000ELShell kit: 10320-3210-000(3M)or an equivalent product

MR-J2HBUS1M-A 1 m

MR-J2HBUS5M-A 5 m

(2)SSCNETconnector set

MR-J2CN1-A - -

For A171SHCPU(N)/A172SHCPU(N)/A173UHCPU/A1SD75M/MR-J4-T20

Controller-side connectorConnector: PCR-S20FS+Case: PCR-LS20LA1(Honda Tsushin Kogyo Co., Ltd.)


Connector: 10120-3000PEShell kit: 10320-52F0-008(3M)or an equivalent product

(3) SSCNET cable

MR-J2HBUS05M 0.5 m

-For QD75M/MR-J4-T20

Controller/MR-J4-T20-sideconnector (Note 1)




MR-J2HBUS1M 1 m

MR-J2HBUS5M 5 m

(4)SSCNETconnector set

MR-J2CN1 - -For QD75M/MR-J4-T20

Controller/MR-J4-T20-sideconnector (Note 2)




(5) SSCNET cable

Q172J2BCBL05M 0.5 m

-For Q172CPU(N)/MR-J4-T20

Controller-side connectorConnector: HDR-E14MG1+Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)



Q172J2BCBL1M 1 m

Q172J2BCBL5M 5 m

(6) SSCNET cable

Q172J2BCBL05M-B 0.5 m





Q172J2BCBL1M-B 1 m

Q172J2BCBL5M-B 5 m

Battery unit-side connectorSocket: HNC2-2.5S-2Terminal: HNC2-2.5S-D-B(Hirose Electric Co., Ltd.)

* Use this cable when using Q170BAT battery unit.

Notes: 1. Solder type (connector: 10120-3000PE and shell kit: 10320-52F0-008) (3M) is also usable. Contact the manufacturer directly. 2. Press bonding type (connector: 10120-6000EL and shell kit: 10320-3210-000) (3M) is also usable. Contact the manufacturer directly.

Cables and Connectors

17

Item ModelCablelength

IPrating

Application Description

(7) SSCNET cable

Q173J2B_CBL05M (Note 2) 0.5 m





Q173J2B_CBL1M (Note 2) 1 m

Q173J2B_CBL5M (Note 2) 5 m

(8)Junction cable forRS-232C

MR-J4T20CH00 0.2 m - For MR-J4-T20

MR-J4-T20-side connectorConnector: HDR-E14MG1+Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)

Junction connectorReceptacle: 10220-0200ELShell kit: 10320-E2W0-008(3M) or an equivalent product

(9)

Personalcomputercommunicationcable(RS-232C cable)

MR-CPCATCBL3M 3 m - For MR-J4-T20

Junction connector (Note 1)

Connector: 10120-6000ELShell kit: 10320-3210-000(3M) or an equivalent product

Personal computer connectorConnector: DE-9SF-NConnector case: DE-C1-J6-S6(Japan Aviation Electronics Industry,Limited)

(10)Terminalconnector

MR-A-TM - - For MR-J4-T20

Notes: 1. Solder type (connector: 10120-3000PE and shell kit: 10320-52F0-008) (3M) is also usable. Contact the manufacturer directly. 2. The underbar of Q173J2B_CBL05M/Q173J2B_CBL1M/Q173J2B_CBL5M indicates the number of SSCNET branched systems. None: one system, 2: two systems, 4: four

systems

Cables and Connectors

Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for the wire size and other options.

18


MDOC (1308)New publication, effective August 2013

Specifications are subject to change without notice.

Safety WarningTo ensure proper use of the products listed in this catalog,

please be sure to read the instruction manual prior to use.

melservo-j4 series servo amplifier for connecting to...

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